Guide means for a traversing vehicle

ABSTRACT

An air supported vehicle is guided by trackways at one or both sides thereof, in which the trackways contact guide rollers mounted on the vehicle. The rollers contact the trackway to prevent lateral movement while permitting variations in the vertical positioning of the vehicle by the air. Additional rollers on the vehicle may limit its vertical movement or lock it in a fixed vertical position relatively to the trackways. The vehicle may be moved away from the side trackways for guidance by other trackways and additional guides on the vehicle. The upper end of the vehicle is guided by upper trackways that are formed to permit ready movement of the vehicle in an aisle, from one aisle to another and vertical movement of the vehicle within predetermined limits while preventing movement laterally of the vehicle during movement in an aisle.

United States Patent 1 3,672,305 Richins 1 June 27, 1972 [541 GUIDEMEANS FOR A TRAVERSING 3,580,181 5/1971 Bertin ..104/134 VEHICLE KennethA. Richins, Salt Lake City, Utah [72 Inventor:

[73] Assignee: Eaton Corporation, Cleveland, Ohio [22] Filed: May 11,1970 v [21] Appl. No.: 36,308

[52] US. Cl ..l04/23 FS, 104/134, 104/130 [51] Int. Cl ..B6lb 13/08 [58]Field of Search 104/23 FS, 130, 134

[56] References Cited 5 UNITED STATES PATENTS 3,498,234 3/1970 Roumejon..104/134 3,276,392 10/1966 Cockerell 104/23 FS 3,225,704 12/1965 Gilvar..104/l30 3,451,351 6/1969 Hawes ..104/130 Primary Examiner-James B.Marbert Assistant Examiner-D. W. Keen Attorney-Teagno and Toddy [57]ABSTRACT An air supported vehicle is guided by trackways at one or bothsides thereof, in which the trackways contact guide rollers mounted onthe vehicle. The rollers contact the trackway to prevent lateralmovement while permitting variations in the vertical positioning of thevehicle by the air. Additional rollers on the vehicle may limit itsvertical movement or lock it in a fixed vertical position relatively tothe trackways. The vehicle may be moved away from the side trackways forguidance by other trackways and additional guides on the vehicle. Theupper end of the vehicle is guided by upper trackways that are formed topermit ready movement of the vehicle in an aisle, from one aisle toanother and vertical movement of the vehicle within predetermined limitswhile preventing movement laterally of the vehicle during movement in anaisle.

9 Claims, 5 Drawing Figures AISLE B PNENTEnJum 1972 SHEET 10F 4 AISLE BBINS FIG.

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PATENTEDJUHZ'I m2 3.672.305

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PA TENTEDJum I972 SHEET 3 BF 4 F 55 INVENTOR. L... 1

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PATENTED Jun 2 7 1972 SHEET '4 OF 4 ATTORNEY.

BACKGROUND OF INVENTION This invention relates to a traversing vehicle,and more particularly to a traversing vehicleof the type that is movableina warehouse for transporting loads, and for stacking loads in bins oron shelves and the like. The invention relatesmore particularly to atraversing vehicle having means for moving a loadto a relatively highposition in a warehouse particularly constructed for. the purpose, andtherefore requiring means for stabilizing both the upper end andthelower end of the vehicle. Evenmore particularly, the inventionrelates to a traversing vehicle of the type adapted to be liftedslightly from a floor through the use of air flow, thus makingpossiblethe traversing movement of the vehicle thereafter by a lowpowered traction mechanism.

A traversing vehicle of the type disclosed in this application is wellset forth in earlier applications Ser. No. 886,884, filed Dec. 22, I969;Ser. No. l9,85l, now U.S. Pat. No.'3,63l,940; and Ser. No. 25,908, filedApr. 6, I970. recently sent to the Patent Office assigned to theassignee'ofthis application.

PRIOR ART Naturally there have been earlier contributions to the artincluding the constructions of the earlier applications set forth.

Thus, the said applications disclose constructions of the particularclass to which the invention relates, in whichmeans are provided forguiding a vehicle at its lower end, and also at its upper end, formovement in linear paths, and for particularly guiding a vehicle andsupporting it as it moves from one aisle into a second aisle angularlyrelated to the first aisle. It is not believed, however, that the artdiscloses the novel and effective guiding mechanism and lockingmechanism, and .the

means for transferring a vehicle from one aisle to another andfacilitating its transfer, outlined and disclosed herein.

' OUTLINE OF'Tl-IE INVENTION A feature of this invention resides inapplying to a vehicle, side guides for coaction with a particular typeof trackway, together with novel floor guides adapted for utilizationwith a surface or subterranean trackway,-as well as top guides andtransfer means for the top guides. Thisconcept, as will be set forthparticularly hereinafter, makes possible the effective guiding of avehicle in one aisle, and then the transfer 'of the vehicle to a secondaisle in which there are no obstructing guide mechanisms. In turn,thismakes possible the utilization of standard wheeled vehicles in thesecond aisle. Therefore, a warehouse may, through the invention, beutilized to its greatest extent,'since both air supported specialvehicles, as well as standard vehicles, may be employed for manipulatingloads and for transferring loads from one aisle to another and from onevehicle to another.

As a particular feature of the invention, the vehicle may be equippedwith side guiding mechanisms adapted to guide and stabilize the vehicle,and also to lock the vehicle in a particular elevated position or aparticular lowered position. Those skilled in the art will appreciatethat through this concept, an air supported vehicle may be effectivelyguided despite variations in its vertical position that occur as itmoves. At the same time, the vehicle may be held in a fixed verticalposition, while still guided, so it may accurately spot a load.

As a more particular feature of this portion of the invention, all orpart of the guide mechanism on the vehicle may be withdrawn from guideposition, or from a position locking the vehicle in an elevated orlowered position.

A further feature of the invention resides in anovel type of guidemechanism on the vehicle adapted for coaction with a surface ofsubterranean trackway. The trackway, as earlier indicated, makespossible the use of a conventional vehicle for traversing the aisle inwhich the'trackway' is positioned. The guide means on the vehicle forcoacting with the trackway may be maintained in a position within thevehicle, and out of coaction with the trackway, or may be moved forcoaction with the trackway, and to be held against the trackwayyieldingly as by a pneumatic cylinder. Through the utilization ofsuitable limit mechanism, the guide means will be held effectively in aposition coacting with the surface or subterranean trackway in allelevated positions of the vehicle. This naturally is important in an airsupported vehicle of the class to which this invention is particularlyapplied.

A still further feature of the invention resides in the utilization ofnovel trolleys coacting with linear trackways, preferably fixed adjacentthe ceiling of the warehouse in which the vehicle operates, the trolleysbeing movable vertically relatively to the trackways, and being adaptedfor ready transfer from one trackway to another.

DESCRIPTION OFTHE DRAWINGS In the drawings, FIG. 1 is a vertical side,view of the vehicle of this invention,

showing its coaction with guides in conformance with the conmechanism ofthe vehicle into coaction .with the floor trackway. 7

FIG. 4 is an end view of the vehicle of FIG. 1 and the guide mechanismcoacting therewith, but illustrating the floor guide rollers in theposition shown in FIG. 3.

FIG.-5 is a plan view and partial section along line 5-5 of FIG. 1.

DESCRIPTION OF THE INVENTION The vehicle of this invention is designatedgenerally by reference numeral 10, and comprises a lower main frame 11from which extends'a vertical mast 12. A series of air support pads 13,best illustrated in FIGS. 1 and 5, are secured to the bottom of thevehicle main frame 11. Suitable blowers l4 driven by motors l5 generateair pressure which through the pads 13 supports the vehicle in a raisedposition relatively to the floor F as well seen in FIGS. 1 and '4.

Supported for vertical movement on the mast 12 is a load elevatingplatform 20, on which is adapted to stand'an operator, protected by ascreen 21 and a canopy 22. Through suitable controls 23, the operatormay control the manipulation of the vehicle and the movement upwardlyand downwardly of the load platform 20 relatively to the mast '12. Aconventional chain mechanism 25, suitably actuated by a series ofsprockets driven by an electric motor 30, will effect the upward anddownward movement of the platform 20 as is standard in the art. Thus,the general construction of the vehicle, the load manipulating andlifting mechanism, and the air support means and their actuation, areall features that are not per se part of the invention of thisapplication, and for that reason will not be set forth in any greaterdetail than just presented. A more complete understanding of theoperation of the vehicle may be obtained by reference to theapplications referred to above.

As can best be seen in FIG. 5, the vehicle 10 is adapted to move in anaisle A in opposed directions as indicated by the double arrow 31. It isalso adapted to move transversely in an aisle B as indicated by arrows32 and 33. For guiding the vehiclein the aisle A, a series of stanchions34 support at each side of aisle A, a trackway 35 whose shape is bestillustrated in FIG. 2. Each trackway 35 is substantially a U-shaped beamhaving an upper flange 36 and a lower flange 37. Adapted to ride betweenthe flanges of each beam 35 is a roller 38 secured on ashaft 39, eachshaft 39 having fixed thereto a rack portion 40. The two rack portions40 are adapted to be reciprocated by a gear 41 that is actuated by apneumatic motor 42 of any standard form.

It is the function of the pneumatic motor 42, through the gear 41 andthe racks 40 to press the rods 39 and their rollers 38 yieldinglyagainst the two beams 35. Alternately, the motor 42 may retract the tworollers 38 from beams 35 to an inward position relatively to main frame11, and out of obstructing position. As best illustrated in FIG. 2, whenthe vehicle is slightly raised off the floor F by the several air pads13, the two rollers 38 will be midway approximately between the twoflanges 36 and 37 of the beam 35. Obviously, the distance between theflanges may be set in accordance with the preferred movement of thevehicle relatively to the floor F as those skilled in the art willappreciate, but it is obvious the vehicle will be effectively guidedeven though it moves vertically as it traverses a fixed linear path.

For controlling the movement of the vehicle relatively to the beam 35 ina vertical direction, the main frame 11 is equipped with a series ofrollers 43, each of which is eccentrically mounted at 44 relatively tothe main frame, for rotation on its eccentric mounting by a suitable airactuated motor 45.

An air actuated motor 45 is preferred because of the presence of thepowerful air flow developing means 14 used for for supplying air to theseveral pads 13. However, other means may be utilized for rotating therollers 43 about their eccentric mountings 44.

In any event, it is obvious that the rollers 43, when rotated on theireccentric mountings, may be moved toward and away from the two flanges36 and 37 of each beam 35. The purpose of the particular mechanism is tolock the vehicle in any elevated position desired, in order to align theload handling mechanism of the platform 20 in a particular positionrelatively to a bin or the like. Thus, while the vehicle is airsupported for movement by relatively low powered traction mechanism, itmay be stabilized and locked in any particular vertical position,whereby to align the load handling mechanism accurately relatively tostorage means. This feature is of extreme importance because bins inmodern warehouses are maintained in as close proximity as is possible inorder to save space, and loads must be handled and spotted with greataccuracy for safety and for ready storage and removal, all as thoseskilled in the art will well appreciate.

While not particularly shown, it will be understood that the motors 45and the rollers 43 together with their mounting mechanism may be adaptedfor movement together with the rods 39 and the rollers 38, should suchoperation be desired.

It will now be appreciated that the main frame 11 is very well guided inthe aisle A by the beams 35, and is well adapted for stabilized movementtherefore in the aisle A. For guiding the upper end of the vehicle,trolleys 47 and 48 are utilized. These trolleys are rotatably mounted onthe mast 12 for movement therewith. In the position of the vehicle shownin full lines in FIG. 5, the trolley 47 is the only trolley that isutilized for stabilizing the upper end of the vehicle. Thus, the trolley47 coacts with a trackway 50 that is in the shape of an inverted U. Thistrackway is parallel to the beams 35 and obviously coacts with thetrolley 47 to hold the upper end of the vehicle well in alignment withthe two beams 35.

As is also well seen in FIG. 5, the trackway 50 extends to a secondtrackway 51 at right angles thereto and aligned with aisle B. In aisle Athere is a short third trackway 52, that is parallel to the trackway 50,and has an open end at 53. The trackway 52 extends into the trackway 51in the same manner as does the trackway 50. When the vehicle moves fromits full line position of FIG. to its dotted line position, the trolley47 will move into the trackway 51 as well shown in dotted lines in FIG.5, and at the same time, the trolley 48 will also move into the trackway51 as is also shown in dotted lines in FIG. 5. Therefore, both trolleys47 and 48 will coact with the trackway 51 so that the upper end of thevehicle will be well controlled by two trolleys in its movement in theaisle B. The use of two trolleys in the aisle B is important, becausethe vehicle while moving in aisle B, will not be supported at its lowersides as in aisle A. Thus, in aisle A the vehicle is supported at bothlower sides through the two beams 35 and by the single trolley 47 at itsupper end. In aisle B, the vehicle is supported at its upper end by thetwo trolleys 47 and 48, and is guided at its lower end by a surface orsubterranean trackway forming part ofa novel form of guide mechanism,all as will now be set forth.

A subterranean trackway may be used and formed as best illustrated inFIG. 3. There, it will be seen that a pair of angle irons 55 aresuitable secured by spikes or the like 56, in concrete 57, to form atrackway designated generally by the reference numeral 58. Shown in FIG.3 lying in this trackway, is a roller 59 that is supported for rotationon a shaft 59a that is secured to an arm 60. The arm 60 is pivoted at 61to a bracket 62 that is integral with the frame 11 of the truck 10.Pivoted to the arm 60 at 63 is a link 64 that is pivoted at 65 to thepiston 67 of a pneumatically actuated cylinder 68. The cylinder 68 isadapted to receive its air pressure from the source of air pressureadapted to supply the several air support pads 13.

For limiting the movement of the roller 59 with the arm 60, there issecured to the arm 60 a bracket 70 on which is supported for rotation alimiting roller 71. It is obvious in FIG. 3, that the roller 71 coactswith a surface of one of the angle irons 55 of the trackway for limitingthe movement of the guide roller 59 inwardly of the trackway 58. It isfurther obvious, that should the vehicle rise from its position of FIG.3 because of the supply of additional air pressure to the air pads 13,the limiting roller 71 will allow the arm 60 to move the roller 59further toward the trackway 58 so as to maintain the roller 59 at alltimes in its proper relation to the trackway 58.

Actually, there are two rollers 59 as can best be seen in FIG. 4, oneroller at each side of the vehicle 10. These rollers together with theoperating means therefore just described, are normally maintainedpreferably within the vehicle as best illustrated in FIG. 1, where apart of the frame portion 11 of the vehicle has been cut away to showthe parts. Thus, there will be two rollers 59 and two rollers 71,together with two cylinders 68. There is an interconnection between theparts 60 by means of a transverse rod 72 as also best seen in FIG. 4, toinsure the movement of the two rollers 59 together into the trackway 58.

It will now be apparent that the vehicle is well guided for movement inthe aisle A by the rollers 38, and that its vertical position in theaisle A is well controlled also by the several control rollers 43. Thestabilizing of the vehicle by the rollers 43 is, as earlier outlined,extremely important because of the location of the storage bins withinthe aisle A. The single trolley 47 is adequate for stabilizing thevehicle in aisle A, because of the utilization of the stabilizing meansat each side of the vehicle. As is also apparent, the vehicle is wellstabilized within the aisle B by the utilization of two trolleys 47 and48, and is adequately guided at its lower end by the pair of guiderollers 59. Because the vehicle is not adapted to store goods in bins inaisle B as in aisle A, no additional vertical stabilizing and lockingmeans such as required in aisle A are found. It will be appreciatedfurther that when the vehicle 10 is not in the aisle B, the aisle B isfree for utilization by standard vehicles because of the surface orsubterranean trackway.

Because the vehicle is held off the floor by pneumatic means when ineither of the two aisles A and B, it is easily moved linearly in theaisles by a low powered traction wheel T that is mounted and functionsas set forth in the earlier applications referred to supra, andtherefore not described here. It will also be well to note, as best seenin FIG. 4, that trolleys 47, 48 are formed to coact with trackways 5051, 52 in all the vertical positions of the vehicle to which it may bemoved.

The extreme utility and effectiveness of the rollers 59 for guiding thelower end of the vehicle in the aisle B, while adapted for withdrawal soas not to interfere with the functioning of the vehicle in aisle A, isobvious. It is thought that the extremely valuable concept andcontribution of this invention will now be fully understood.

I now claim:

1. In a combination of the class described, a traversing vehicle, meansfor guiding said vehicle for traversing a predetermined linear pathcomprising guide means positioned at the side of said path and guidedevices mounted on the side of said vehicle engaging said guide meansand coacting therewith, said guide means and guide devices being sorelated to said path and vehicle that said vehicle is free to movevertically in said path while maintaining engagement between said guidemeans and devices to thereby guide movement of said vehicle along saidpath, and selectively actuatable means for fixing said vehicle in apredetermined position against vertical movement relative to said path,said last stated means comprising at least one selectively actuatablemotor mounted on said vehicle having a shaft mounted for rotary movementrelative thereto upon actuation thereof and a lock member eccentricallymounted on said shaft positioned to engage said guide means upon rotarymovement of said shaft for locking said vehicle in a predeterminedvertical position relative to said guide means.

2. ln the combination of claim 1, the feature that said guide means andsaid guide devices respectively comprise linear barriers and rollerspositioned for co action with said barriers.

3. [n the combination of claim 2, the feature that said barriers definetherebetween a space permitting vertical movement of said rollersbetween said barriers for vertical adjustment of said vehicle.

4. In the combination of claim 2, the feature that means are utilizedfor moving said rollers relatively to said barriers to withdraw therollers from guiding engagement with said barriers.

5. In the combination of claim 1, the feature that air flow means areprovided on said vehicle to move it vertically off a ground surface aspermitted by said guide means and devices for easy transport, andtraction means are provided for said vehicle to move it in said linearpath.

6. In the combination of claim 1, the feature that said vehicle has apair of spaced trolleys at its upper end adjacent the ceiling ofawarehouse or the like in which said vehicle moves, and at least onetrackway on said ceiling for coaction with said trolleys to stabilizesaid vehicle.

7. In a combination of claim 6, the feature that said trolleys andtrackway are formed to allow vertical movement therebetween whileremaining in engagement.

8. In a combination of the class described, a traversing vehicle, meansfor guiding said vehicle for traversing a predetermined path comprisingguide means positioned at one side of said path and guide devicesmounted on said vehicle for coacting with said guide means to guide saidvehicle along said path,

said path comprising a first aisle extending in one direction and asecond aisle extending generally perpendicular thereto, said guide meanscomprising a first guide extending along said first aisle and a secondguide extending along said second aisle,

said guide devices comprising a first roller for engaging said firstguide when said vehicle is disposed in said first aisle, a second rollerfor engaging said second guide when said vehicle is disposed in saidsecond aisle, and means mounted on the vehicle for selectively movingsaid rollers to engage the respective guides, said guide devices beingcooperable between said vehicle and said guide means to allow relativevertical movement between said vehicle and said path while effectivelyguiding said vehicle therealong, and

means for locating and locking said vehicle in a predetermined verticalposition relative to at least one of said guides, said means comprisinga motor mounted on said vehicle, said motor having a shaft mountedtherein for rotary movement relative thereto and a lock membereccentrically mounted on said shaft positioned to engage one of saidguides upon rotary movement of said shaft to thereby locate and holdsaid vehicle in a predetermined vertical position relative to said oneof said guides.

9. [n the combination of claim 8, the feature that said vehivehicle, asit traverses either of said aisles.

1. In a combination of the class described, a traversing vehicle, meansfor guiding said vehicle for traversing a predetermined linear pathcomprising guide means positioned at the side of said path and guidedevices mounted on the side of said vehicle engaging said guide meansand coacting therewith, said guide means and guide devices being sorelated to said path and vehicle that said vehicle is free to movevertically in said path while maintaining engagement between said guidemeans and devices to thereby guide movement of said vehicle along saidpath, and selectively actuatable means for fixing said vehicle in apredetermined position against vertical movement relative to said path,said last stated means comprising at least one selectively actuatablemotor mounted on said vehicle having a shaft mounted for rotary movementrelative thereto upon actuation thereof and a lock member eccentricallymounted on said shaft positioned to engage said guide means upon rotarymovement of said shaft for locking said vehicle in a predeterminedvertical position relative to said guide means.
 2. In the combination ofclaim 1, the feature that said guide means and said guide devicesrespectively comprise linear barriers and rollers positioned forcoaction with said barriers.
 3. In the combination of claim 2, thefeature that said barriers define therebetween a space permittingvertical movement of said rollers between said barriers for verticaladjustment of said vehicle.
 4. In the combination of claim 2, thefeature that means are utilized for moving said rollers relatively tosaid barriers to withdraw the rollers from guiding engagement with saidbarriers.
 5. In the combination of claim 1, the feature that air flowmeans are provided on said vehicle to move it vertically off a groundsurface as permitted by said gUide means and devices for easy transport,and traction means are provided for said vehicle to move it in saidlinear path.
 6. In the combination of claim 1, the feature that saidvehicle has a pair of spaced trolleys at its upper end adjacent theceiling of a warehouse or the like in which said vehicle moves, and atleast one trackway on said ceiling for coaction with said trolleys tostabilize said vehicle.
 7. In a combination of claim 6, the feature thatsaid trolleys and trackway are formed to allow vertical movementtherebetween while remaining in engagement.
 8. In a combination of theclass described, a traversing vehicle, means for guiding said vehiclefor traversing a predetermined path comprising guide means positioned atone side of said path and guide devices mounted on said vehicle forcoacting with said guide means to guide said vehicle along said path,said path comprising a first aisle extending in one direction and asecond aisle extending generally perpendicular thereto, said guide meanscomprising a first guide extending along said first aisle and a secondguide extending along said second aisle, said guide devices comprising afirst roller for engaging said first guide when said vehicle is disposedin said first aisle, a second roller for engaging said second guide whensaid vehicle is disposed in said second aisle, and means mounted on thevehicle for selectively moving said rollers to engage the respectiveguides, said guide devices being cooperable between said vehicle andsaid guide means to allow relative vertical movement between saidvehicle and said path while effectively guiding said vehicle therealong,and means for locating and locking said vehicle in a predeterminedvertical position relative to at least one of said guides, said meanscomprising a motor mounted on said vehicle, said motor having a shaftmounted therein for rotary movement relative thereto and a lock membereccentrically mounted on said shaft positioned to engage one of saidguides upon rotary movement of said shaft to thereby locate and holdsaid vehicle in a predetermined vertical position relative to said oneof said guides.
 9. In the combination of claim 8, the feature that saidvehicle has a trolley at its upper end coacting with a fixed trackway insaid aisles for guiding and stabilizing the upper end of said vehicle,as it traverses either of said aisles.